As long as you're running 12.2(8)T or higher, you will be able to get support for VPN Clients 3.x connections.
If you are currently running NAT and you want your VPN connections to not translate, try something like this on your 1721:
ip nat inside source route-map nonat interface serial 0/0 overload
!
route-map nonat permit 10
match ip address 100
!
access-list 100 deny ip
access-list 100 permit ip any